12 Automation lntegration
12.3 Sample Robot - CNC Communication Sequence
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M26 H11 ;USER OUT#1 OFF
M25 H4;CLOSE VICE
G04F1;MAKE SURE OUTPUT IS SEEN
M20;CHAIN TO PROGRAM
START.NC
Step 11
The robot monitors the CNC’s input signal. Once the machine signals that it is idle, the robot exits the
machine and closes the door.
Open Gripper
Go Linear to Position SCRIPT.P2 Speed 30 (%)
If Input 1 Off Call Subroutine PM8000 NOT READY
Go to Position SCRIPT.P3 Speed 50 (%)
Go to Position SCRIPT.P4 Speed 50 (%)
If Input 1 Off Call Subroutine PM8000 NOT READY
Call Subroutine CLOSE DOOR
Step 12
The program name is transferred to the CNC control via the script file and the machine executes the
task.
CDOOR.NC (Sample)
M26 H11 ;USER OUT#1 OFF
M26 H102 ;CLOSE DOOR
G04F2;MAKE SURE OUTPUT IS SEEN
G25 H131; Wait door closed
M20;CHAIN TO PROGRAM
START.NC
Step 13
Depending on the system environment, the manufacturing CNC code can be activated via an external
control program (i.e. device driver) or directly from the robot program. In both cases the robot
controller will monitor the CNC machine status and will wait until the CNC program is finished. The
monitoring is done via an input interrupt to allow the robot to perform other tasks while waiting. The
interrupt is defined at the start of the program and is enabled or disabled as required in the program.
Remark: ****************************************************************************
Set Subroutine INITC
Load script file: PCPLC3.VBS
Disable Input Interrupt 1
On Input Interrupt 1 On Run Subroutine PM8000_CYCLE_FINISHED
Return from Subroutine
Remark: ****************************************************************************
SMILY.NC (Sample)
M26H11 ; Put idle signal off
